Obstacle detection for robot navigation using structured light
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2005
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| Online Access: | http://hdl.handle.net/1721.1/8601 |
| _version_ | 1826203728816898048 |
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| author | Tran, Deborah L. (Deborah Lynn Hong), 1978- |
| author2 | Kenneth M. Houston and Leslie Pack Kaelbling. |
| author_facet | Kenneth M. Houston and Leslie Pack Kaelbling. Tran, Deborah L. (Deborah Lynn Hong), 1978- |
| author_sort | Tran, Deborah L. (Deborah Lynn Hong), 1978- |
| collection | MIT |
| description | Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001. |
| first_indexed | 2024-09-23T12:42:08Z |
| format | Thesis |
| id | mit-1721.1/8601 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T12:42:08Z |
| publishDate | 2005 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/86012019-04-11T12:15:55Z Obstacle detection for robot navigation using structured light Tran, Deborah L. (Deborah Lynn Hong), 1978- Kenneth M. Houston and Leslie Pack Kaelbling. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001. Includes bibliographical references (p. 84-85). Obstacle detection is an essential function for autonomous mobile robots. Current autonomous systems are generally heavy, high-powered devices. Additionally, obstacle detection systems often employ active ranging sensors that exhibit poor angular resolution, thereby preventing vehicles from navigating through narrow spaces. Other systems require considerable processing to resolve objects. The work in this thesis attempts to design a small, lightweight, low-cost, and low-power system to detect obstacles in the direct field of view of a small robotic vehicle. In particular, the range to the obstacle as well as shape estimation is key data that would aid in robot navigation as well as data gathering. Rather than using conventional active or passive ranging techniques, this thesis examines projections of structured light to determine range to the obstacle and surface information of the obstruction. A physical model was developed and tested through simulation, and verified in hardware. by Deborah L. Tran. M.Eng. 2005-08-23T21:37:13Z 2005-08-23T21:37:13Z 2001 2001 Thesis http://hdl.handle.net/1721.1/8601 49317286 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 132 p. 8565508 bytes 8565268 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Tran, Deborah L. (Deborah Lynn Hong), 1978- Obstacle detection for robot navigation using structured light |
| title | Obstacle detection for robot navigation using structured light |
| title_full | Obstacle detection for robot navigation using structured light |
| title_fullStr | Obstacle detection for robot navigation using structured light |
| title_full_unstemmed | Obstacle detection for robot navigation using structured light |
| title_short | Obstacle detection for robot navigation using structured light |
| title_sort | obstacle detection for robot navigation using structured light |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/8601 |
| work_keys_str_mv | AT trandeborahldeborahlynnhong1978 obstacledetectionforrobotnavigationusingstructuredlight |